ChinaUWBProject.git

			@@ -1,5 +1,5 @@
			/*
			* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
			* Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
			* its subsidiaries and affiliates (collectly called MKSEMI).
			*
			* All rights reserved.
			@@ -51,8 +51,16 @@

			#include "board.h"

			#if FILTER_EN
			#define KF_SUPPORT_NUM 6
			#define KF_TIMEOUT_MS 2000
			static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
			static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
			static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
			#endif

			#if PDOA_3D_EN
			#define PDOA_3D_SUPPORT_NUM 100
			#define PDOA_3D_SUPPORT_NUM 10
			#define PDOA_3D_TIMEOUT_MS 2000
			static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
			static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
			@@ -114,15 +122,15 @@

			if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
			{
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
			}
			else
			{
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			}

			#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
			struct AOA_ANGLE_SPAN_T aoa_span;
			angle_span_t aoa_span;
			#if AOA_3D_EN
			aoa_span.Ndim = 2;
			aoa_span.el_low = 0;
			@@ -144,22 +152,21 @@
			#endif

			#if AOA_EN
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));
			sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
			aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params->ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));
			#else
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
			sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
			#endif

			aoa_param_config();

			#if PDOA_3D_EN
			pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_HIGH, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
			pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_NONE, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
			#endif

			#if FILTER_EN
			if (uwb_app_config.filter_en)
			{
			loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 0, 1);
			uint32_t update_period_ms = uwb_app_config.session_param.ranging_interval;
			loc_post_kf_config(update_period_ms, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
			}
			#endif
			}
			@@ -170,12 +177,7 @@
			aoa_env.sequence_num++;
			if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
			{
			// Power on radio
			power_on_radio(1, 0);

			// SP3 payload len = 0
			mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, aoa_env.anchor_point, 0, NULL, 0);
			mac_start();
			uwb_tx(NULL, 0, TX_MODE_DEFER, aoa_env.anchor_point);

			LOG_INFO(TRACE_MODULE_APP, "AoA Initiator SEQ NUM %u\r\n", aoa_env.sequence_num);
			}
			@@ -183,20 +185,18 @@
			{
			// Change Rx main antenna
			uint8_t main_ant = 3;
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, main_ant);
			aoa_param_update(main_ant);
			// Power on radio
			power_on_radio(0, 1);
			sts_lsp_store();
			phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, main_ant);
			sts_param_update(main_ant);

			if (aoa_env.stage == AOA_SYNC)
			{
			mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, aoa_env.ranging_period);
			uwb_rx(RX_MODE_IMMEDIATE, 0, aoa_env.ranging_period);
			}
			else
			{
			mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, aoa_env.anchor_point - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
			uwb_rx(RX_MODE_DEFER, aoa_env.anchor_point - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
			}
			mac_start();

			LOG_INFO(TRACE_MODULE_APP, "AoA Responder SEQ NUM %u\r\n", aoa_env.sequence_num);
			}
			}
			@@ -218,6 +218,9 @@

			void aoa_process(const struct MAC_HW_REPORT_T *ind)
			{
			power_off_radio();
			sts_lsp_store_stop();

			if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
			{
			phy_timer_target_set(aoa_env.anchor_point + aoa_env.ranging_period - UWB_EVT_PREFETCH_TIME, aoa_timer_callback);
			@@ -226,7 +229,6 @@
			{
			if (ind->err_code == UWB_RX_OK)
			{
			sts_lsp_store_stop();
			// update anchor point
			aoa_env.anchor_point = ind->timestamp - phy_shr_duration();
			aoa_env.stage = AOA_POLL;
			@@ -242,9 +244,7 @@
			{
			if (aoa_env.stage == AOA_SYNC)
			{
			sts_lsp_store();
			mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, aoa_env.ranging_period);
			mac_start();
			uwb_rx(RX_MODE_IMMEDIATE, 0, aoa_env.ranging_period);
			return;
			}
			else
			@@ -258,8 +258,6 @@
			}
			phy_timer_target_set(aoa_env.anchor_point + aoa_env.ranging_period - UWB_EVT_PREFETCH_TIME, aoa_timer_callback);
			}

			power_off_radio();
			}

			void aoa_done(const struct MAC_HW_REPORT_T *rx)
			@@ -270,8 +268,9 @@
			{
			ind->hdr.event = AOA_DONE_MSG;
			ind->status = rx->err_code;
			ind->rssi = rx->rssi;
			ind->snr = rx->snr;
			// ind->rssi = rx->rssi;
			ind->rssi = correct_rssi(rx->rssi);
			ind->snr = correct_snr(rx->snr);

			if ((rx->pkt_len) && (rx->pkt_data != NULL))
			{